The bipartite containment control problem for heterogeneous nonlinear multi-agent systems(HNMASs) within multi-group networks under signed digraphs is investigated, where the first-order and second-order nonlinear dynamic agents belong to distinct groups. Interactions are cooperative-antagonistic within each group and sign-in-degree balanced across the inter-groups. Firstly, a state feedback control protocol is designed to ensure that the trajectories of followers in diverse groups can converge to distinct convex hulls formed by their corresponding leaders, respectively. As an extension, the bipartite control problem with time-variant formation for the multi-agent system(MAS) is also considered, and a corresponding control protocol with formation compensation vectors is given. Finally, in view of Lyapunov stability theory and matrix inequality, the sufficient conditions for realizing the bipartite containment control are obtained, and several simulations are provided to verify the validity of the above methods.
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Funding
National Natural Science Foundation of China(12071370)
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